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3
CANopen encoder
Preliminary note1
Symbols used1.1
►Instruction
>Reaction, result
[…]Designation of pushbuttons, buttons or indications
→Cross-reference
Important note
Non-compliance can result in malfunctions or interference�
Information
Supplementary note
Warning signs used1.2
ATTENTION
Warning of damage to property�
Safety instructions2
This manual is part of the device� It contains information and illustrations about the
correct handling of the device and must be read before installation or use�
Observe the operating instructions�
Non-observance of the instructions, operation which is not in accordance with use
as prescribed below, wrong installation or handling can affect the safety of people
and machinery�
The installation and connection must comply with the applicable national and
international standards� Responsibility lies with the person installing the unit�
Only the signals indicated in the technical data or on the device label may be
supplied to the connections or wires�
4
CANopen encoder
General information3
Absolute encoders3.1
For an absolute encoder each angular position is assigned a coded position value�
This is generated by a coded disc with several parallel fine code segments which
are detected individually� For singleturn encoders, i�e� an encoder producing
absolute positions within one revolution, the absolute position information is
repeated with every revolution� A multiturn encoder can also distinguish between
revolutions via a gearbox containing magnets which are individually detected
by Hall elements� The number of the individual revolutions is determined by the
resolution of the multiturn detection and is repeated after the total resolution has
been reached�
CANopen technology 3.2
The CANopen communication profile is based on the CAN Application Layer
(CAL) specification from CiA (CAN in Automation)� CANopen is considered as a
robust fieldbus with highly flexible configuration options� It is used in many various
applications which are based on different application profiles� CANopen comprises
a concept to configure and communicate real-time data using synchronous and
asynchronous messages� Four message types (objects) are distinguished�
UK
Administration messages (layer management, network management and 1�
identifier distribution)
Service data messages (SDO)2�
Process data messages (PDO)3�
Predefined messages (synchronisation, time stamp, emergency)4�
You can find more information in the CANopen specification�
Certication of CANopen products3.2.1
To achieve interoperability and a suitable device functionality CANopen products
are approved by external notified bodies� A copy of the certificate is attached to
this manual�
References3.3
http://www�can-cia�org
CAN Application Layer, DS 201…207 CiA
CAL based communication profile, DS 301 CiA
Device profiles for encoders, DS 406 CiA
CAN specification version 2�0 A Robert Bosch GmbH
CANary CAN controller Atmel
5
CANopen encoder
Abbreviations3.3.1
CAN Controller Area Network
CiA CAN in Automation
CAL CAN Application Layer
EDS Electronic Data Sheet
DCF Device Configuration File
SDO Service Data Object
PDO Process Data Object
TPDO Transmit PDO
COB-ID Communication Object Identifier
NMT Network Management
IRT Isochronous Real Time
Installation of the encoder4
Settings of the encoder4.1
The node address of the encoder, the baud rate and the bus termination must be
configured during the set-up of the device� This is done by removing the cover of
the housing on the back�
switches node address1:
bus termination on/off2:
baud rate switch3:
bus output4:
bus input5:
6
CANopen encoder
supply +U6:
zero set button7:
screw terminals for bus and power supply connection8:
B
Node address4.2
The node address of the device can be set via two decimal rotary switches in
the device� The step increment x10 and x1 is specified next to the switches�
The permitted address range is between 3 and 98� The address range 0 to
2 is reserved for the master� Address 0 is used for broadcasting, i�e� master
broadcasting to multiple slaves� Note that each address used in a CANopen
network must be unique and must not be used by other devices�
The device address is read and adopted when the encoder power supply is
switched on (or the NMT command Reset_Communication or Reset_Node)� Both
actions are required to adopt changes to the address settings�
Bus termination4.3
In a CANopen network all devices are connected in a bus structure� Up to 32
devices (masters and/or slaves) can be connected in one segment� If more
devices are needed, repeaters must be used to amplify the signals between the
segments� An active termination must be added at the beginning and end of each
bus segment to ensure an error-free operation� These terminations are integrated
into the device and can be activated via DIP switches�
UK
The active termination is only activated if the encoder is switched on� If the device
is switched off, the CAN_H and CAN_L lines are internally terminated by a 121 Ω
resistor�
Bit 1Bit 2Effect
onon121 ohm resistor between CAN_H and CAN_L
onoffno valid setting
offonno valid setting
offoffno resistor between CAN_H and CAN_L
Baud rate switch4.4
The communication baud rate can be set using the rotary switch inside the
encoder� The baud rate is set according to the following table�
7
CANopen encoder
�
Settings baud rate switch
Baud rate [kbits]Baud rate switch
100
201
502
1253
2504
5005
8006
10007
4008
Electrical connection of the encoder4.5
NOTE
The unit must be connected by a qualified electrician�
Disconnect power before connecting the unit�
Voltage supply U1:
B
FunctionTerminal
+U
(9���36 V DC)+
B
0 V-
The cable glands of the encoder must always be equipped with a shielded
power supply cable with a wire cross-section between 0�34 mm2 and 1�5 mm2�
The permissible outer cable diameter is ø 8���ø 10 mm� Two screw terminals
with the required power supply terminals marked (+) and (-) are located inside
the cover�
8
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